• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.643-644
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• 2006

The purpose of this study is to experimentally analyze swing motion with soft golf clubs and compare with that with normal golf clubs. Soft golf is newly devised recreational sport based on golf but focus on the playability for the elderly. The subject fur the experiment performed swing motion using a normal golf club and a soft golf club in turn. The swing motion of the subjects was tracked using an opto-electric three-dimensional motion analysis system. The results were compared against those obtained with a normal golf club. The range of motion was analyzed along with top head speed for two cases. It was found that higher club head speed could be achieved with reduced range of motion at lumbar joint using soft golf club when compared against the swing using regular club. The lower range of motion fur lumbar bending means reduced risk of injury at the joint. So, it is projected that we can reduce the risk of injury with soft golf while maintaining the club head speed.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.228-237
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• 2004

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the manipulated object. In order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is presented. Simulation and experimental results demonstrate the motion of soft-fingertips applied in object manipulating tasks and are further used to discuss the characteristics of soft-fingertip motions.

• 대한의용생체공학회:의공학회지
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• 제31권2호
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• pp.141-150
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• 2010

The purpose of this study was to analyze the golf swing motion for a soft golf clubs and regular golf club. Soft golf is a newly developed recreational sports for all ages, including the elderly and the beginners of golf. To quantify the effect of using soft golf club, which much lighter club than regular clubs, a motion analysis has been performed using a 3D optoelectric motion tracking system that utilizes active infrared LEDs and near-infrared sensors. The subject performed swing motion using a regular golf club and a soft golf club in turn. The obtained motion capture data was used to build a 3D computer simulation model to obtain left wrist, elbow shoulder and lumbar joint force and torque using inverse and forward dynamics calculations. The joint force and torque during soft golf swing were lower than regular golf swing. The analysis gave better understanding of the effectiveness of the soft golf club.

• 한국전기전자재료학회논문지
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• 제34권6호
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• pp.401-415
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• 2021

Soft robots are promising devices for applications in drug delivery, sensing, and manufacturing. Traditional hard robotics are manufactured with rigid materials and their degrees of motion are constrained by the orientation of the joints. In contrast to rigid counterpart, soft robotics, employing soft and stretchable materials that easily deforms in shape, can realize complex motions (i.e., locomotion, swimming, and grappling) with a simple structure, and easily adapt to dynamic environment. Among them, the magnetic actuators exhibit unique characteristics such as rapid and accurate motion control, biocompatibility, and facile remote controllability, which make them promising candidates for the next-generation soft robots. Especially, the magnetic actuators instantly response to the stimuli, and show no-hysteresis during the recovery process, essential for continuous motion control. Here, we present the state-of-the-art fabrication process of magnetically controllable nano-/micro-composites, magnetically aligning process of the composites, and 1-dimensional/multi-dimensional multimodal motion control for the nextgeneration soft actuators.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.1134-1139
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• 2005

Seismic motion amplification owing to the input motion level at bedrock is one of the important topics to understand various geomaterials behavior. The extremely valuable borehole records at Port Island were obtained during the 1995 Hyogoken Nanbu Earthquake and also before and after the main event. In this study, the seismic motion amplification at the soft reclaimed ground was discussed. Comparison of measured records with numerical simulation results were made with focus on seismic motion amplification characteristics at the soft reclaimed ground.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.522-525
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• 2005

The purpose of this study was to analyze the pattern of muscle usage during swing motion with a soft golf club in comparison with that with a normal golf club. The subjects were normal healthy young adults. The subjects performed swing motion using normal and soft golf clubs in turn. Then, we compared and analyzed the muscular activities for the two cases. The muscular activities of the subject was measured using MP100(BIOPAC Systems, Inc.). For the analysis of muscular activities, we measured EMG(Electromyography) of the subjects during swing motion. The muscles analyzed were deltoid, latissimus dorsi, external oblique, and rectus abdominis of the upper limbs and rectus femoris, biceps femoris, gastrocnemius, and soleus of the lower limbs. The result of the experiment showed that the pattern of muscle usage with soft golf club was similar to that with a normal golf club but the muscular activities with the soft golf was smaller than that with the normal golf club.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.744-749
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• 2007

Kinematic and kinetic analysis has been performed for Soft Golf swings utilizing realistic three dimensional computer simulations based on three dimensional motion tracking data. Soft Golf is a newly developed recreational sport in South Korea aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. This paper tries to look into kinematic and kinetic aspects of soft golf swings compared to regular golf swing and find the advantages of lighter Soft Golf clubs. For this purpose, swing motions of older aged participants were captured and kinematic analysis was performed for various kinematic parameters such as club head velocity, joint angular velocity, and joint range of motions as a pilot study. Kinetic analysis was performed by applying kinematic data to computer simulation models constructed from anthropometric database and the measurements from the participants. The simulations were solved using multi-body dynamics solver. Firstly, the kinematic parameters such as joint angles were obtained by solving inverse dynamics problem based on motion tracking data. Secondly, the kinetic parameters such as joint torques were obtained by solving control dynamics problem of making joint torque to follow pre-defined joint angle data. The results showed that mechanical loadings to major joints were reduced with lighter Soft Golf club.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.194.2-194.2
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• 2005

• Earthquakes and Structures
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• 제14권1호
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• pp.33-44
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• 2018

Base-isolated nuclear power plant (BI-NPP) structures are founded on expanded basemat as a flexible floating nuclear island, are still lacking the recommendation of the consideration of incoherent motion effect. The effect of incoherent earthquake motion on the seismic response of BI-NPP structure has been investigated herein. The incoherency of the ground motions is applied by using an isotropic frequency-dependent spatial correlation function to perform the conditional simulation of the reference design spectrum compatible ground motion in time domain. Time history analysis of two structural models with 486 and 5 equivalent lead plug rubber bearing (LRB) base-isolators have been done under uniform excitation and multiple point excitation. two different cases have been considered: 1) Incoherent motion generated for soft soil and 2) Incoherent motion generated for hard rock soil. The results show that the incoherent motions reduce acceleration and the lateral displacement responses and the reduction is noticeable at soft soil site and higher frequencies.